Efficient Trotting with CT-SLIP: Linear Resonance Analysis for Clock Parameter Selection
2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2026, Genoa, İtalya, 7 - 10 Temmuz 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/aim65483.2026.11658155
- Basıldığı Şehir: Genoa
- Basıldığı Ülke: İtalya
- Anahtar Kelimeler: Cost of Transport, energy efficiency, Legged robots, optimal control, template-based control
- Orta Doğu Teknik Üniversitesi Adresli: Evet
Özet
We propose a speed-conditioned framework for selecting gait timing parameters in quadrupedal trotting using the resonance properties of a Clock Torque Actuated Spring-Loaded Inverted Pendulum (CT-SLIP) template. Building on our previous controller capable of producing walking, regular, and running trots, this work introduces a linear resonance analysis that relates the natural radial and angular modes of the template to preferred stance and cycle times. Given a desired forward speed, a Froude-scaled speed indicator is used to select the trotting regime, and the corresponding timing parameters are obtained from the linearized dynamics. Simulation results on a Unitree GO1 model reveal clear Cost of Transport (CoT) trends across gaits and cycle times, enabling a simple speed-conditioned schedule that maintains lower CoT than fixed-gait baselines across a wide velocity range. Initial hardware experiments at low speeds show trends consistent with simulation results.